Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 44 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 244 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 5 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INT 0

DIVE 44 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 50 SM_CC 686.83997 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 2.3

D_SURF 2 FILEMGR 0 VBD_MIN 500 DEEPGLIDER 0

D_FLARE 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDERMB 0

D_TGT 150 COMM_SEQ 7 C_VBD 3300 MOTHERBOARD 6

D_ABORT 175 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

D_NO_BLEED 50 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE2 -1

D_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE3 -1

T_BOOST 0 N_NOSURFACE 0 VBD_TIMEOUT 360 DEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_PITCH 0 NETBOX 2 UNCOM_BLEED 20 DEVICE6 -1

D_SAFE 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 1

D_CALL 0 CALL_WAIT 60 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 7

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

T_DIVE 50 N_GPS 100440 LOITER_W_DBAND 0 COMPASS_DEVICE 66

T_MISSION 75 T_RSLEEP 2 LOITER_DBDW 0 COMPASS2_DEVICE -1

T_ABORT 1440 STROBE 0 LOITER_D_TOP 0 PHONE_DEVICE 33

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 96

T_NO_W 60 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 NAV_DEVICE 6

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 575 NAV2_DEVICE 6

T_EPIRB 0 PITCH_MIN 200 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY -10 PITCH_MAX 3610 MINV_24V 11 NAV4_DEVICE -1

USE_ICE 0 C_PITCH 1500 MINV_10V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MAXI_24V 5 PRESSURE_DEVICE 34

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_10V 1.5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 15 FG_AHR_10V 2.7250609 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 15.64583 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.0049999999 PRESSURE_YINT -192.53183 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.00022440785 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 114692 SEABIRD_C_G -10

MASS 72540 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 230 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3835 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2300 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2185 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 4

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 131 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_SAFE 0 N_DIVES 50 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_FILEKB 8 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_TGT 150 N_GPS 100440 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 N_NOCOMM 1 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 FERRY_MAX 45 OPTIONS 0 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 2.7250609 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 15.64583 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_ADJ_DBAND 1 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_ADJ_GAIN 0.0049999999 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_CNV 0.0041299998 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.003 PITCH_GAIN 15 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0099999998 PITCH_GAIN_AUTO_DELTA 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_C 1.6e-05 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HEADING -1 PITCH_MAX 3610 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_MAXERRORS 1 T_ABORT 1440

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 200 T_BOOST 0

COMM_SEQ 7 ID 244 PITCH_TIMEOUT 30 T_DIVE 50

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_VBD_SHIFT 0.0012300001 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 2.3 PITCH_W_DBAND 0 T_GPS 5

COMPASS_USE 114692 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 1500 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022440785 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -192.53183 T_RSLEEP 2

C_ROLL_CLIMB 2185 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2300 LOGGERS 1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD 3300 LOITER_DBDW 0 RAFOS_DEVICE 96 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 0 RAFOS_HIT_WINDOW 3600 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_TOP 0 RAFOS_MMODEM 0 USE_BATHY -10

DBDW 0 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 USE_ICE 0

DEEPGLIDER 0 LOITER_W_DBAND 0 RELAUNCH 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS 72540 RHO 1.023 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 1.5 ROLL_ADJ_DBAND 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_MAX 3960

DEVICE3 -1 MAX_BUOY 150 ROLL_CNV 0.054945 VBD_MAXERRORS 1

DEVICE4 -1 MINV_10V 11 ROLL_DEG 80 VBD_MIN 500

DEVICE5 -1 MINV_24V 11 ROLL_MAX 3835 VBD_TIMEOUT 360

DEVICE6 -1 MISSION 5 ROLL_MAXERRORS 1 W_ADJ_DBAND 0

DIVE 44 MOTHERBOARD 6 ROLL_MIN 230 XPDR_DEVICE -1

D_ABORT 175 NAV2_DEVICE 6 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_BOOST 0 NAV3_DEVICE -1 SC_NDIVE 1.0 XPDR_INT 0

D_CALL 0 NAV4_DEVICE -1 SC_PROFILE 3.0 XPDR_REP 0

D_FINISH 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_VALID 4

D_FLARE 3 NAV_MODE 2 SC_XMITPROFILE 3.0

D_NO_BLEED 50 NETBOX 2 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 270623,105101,4735.980,-12256.732,31,0.9,49,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,105752,4735.993,-12256.739,3,0.8,4,15.4 MHEAD_RNG_PITCHd_Wd 2.1,1050,-17.6,-10.000,-21.21,2209,0.153

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.015448,0.007600,-0.013987,1.042997,-0.042429,0.022686,-0.088198,0.950735,632.884705,-335.695496,-256.128082

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NAV 1687865232,131.8,3,stop _24V_AH 14.73,12.440

NET CACST,8,0,20230627113238.271359,18,31314,44,0101,0150,07,00,00,00,00,1,029,244,0,5,1,0,150,16.0,5.06,-100,-2.06,-01,-0.15,65,10000,5000,0,-1,00,00*78 _10V_AH 14.81,0.000

NET_PING 1687865561,29,668.372986,16.000000,-0.890640 FG_AHR_24Vo 15.784

MODEM_MSG CACST,8,1,20230627112000.477162,18,32767,45,0109,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.2,0.48,-100,2.52,-01,0.06,62,925,0025,0,-1,00,00*11 FG_AHR_10Vo 2.737

FREEZE 5.52,14.907,-1.498,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3222.41,243.65,0.706,0,500.7,444.3,557.1,686.66 MEM2 935080,36,111288,74

SM_GC 2.84,0.00,10.91,3.89,0.000,0.038,0.034,496.4,443.4,549.4,184.3,2317.6,0,0,0,30.00,15.27,15.29 DATA_FILE_SIZE 12945,445

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 180932,0

IRIDIUM_FIX 4736.40,-12251.79,270623,105213 SDSIZE 3887104,3858656

TCM_TEMP 18.17 SDFILEDIR 405,45

SC_FREEKB 3864672 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -1 SOUNDSPEED 1465.0

MODEM 0,1687863600,47.60500,-122.95000,0.617,904.4 CURRENT 0.038, 76.3,1

RAFOS_FIX 4736.185059,-12256.751953,270623,111100,4,255,0.27 MAGCAL 1.000000,0.065924,0.054269,-0.093255,1.070462,-0.343638,0.039439,0.046983,1.749256,598.3,-245.9,-687.2,29,0.0771,0

HUMID 56.51 IMPLIED_C_PITCH 1543,17.18,213,0.0,0.00

TEMP 10.64 IMPLIED_C_VBD 3453,22.796774,213,0

INTERNAL_PRESSURE 8.27829 GPS 270623,115331,4736.264,-12256.443,5,0.7,8,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 677 880 8783.06 nil 0 0 0.00

Pitch_motor 23 235 81.92 nil 0 0 0.00

Roll_motor 65 166 160.49 nil 0 0 0.00

Iridium 286 147 621.23 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.95 nil 0 0 0.00

Core 2187 5 165.87 SciCon 2958 7 337.72

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1198 0 5.68

Compass 926 5 68.59

RAFOS 1689 40 1001.06

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.40 16386 -146.63 -1.35 0.00 493.1 436.9 549.2 185.3 2329.4 0.00 0.00 0 61.72 50.08 0.00 0.00 0.005 0.000 0.000 1955.91 1946.69 1965.12 185.25 2329.06 0 0 0 15.45 30.00 30.00

62.24 18727 -146.63 -1.35 80.00 1959.2 1947.1 1971.4 185.3 2329.1 3.74 -6.60 8 139.07 50.35 7.58 3.57 0.005 0.236 0.090 3899.09 3884.56 3913.62 1172.12 3770.19 0 0 0 15.63 15.49 15.57

366.18 1156 -146.63 -1.27 0.00 3902.3 3886.1 3918.6 1172.1 3771.0 42.08 -14.24 66 378.27 0.00 0.00 3.47 0.000 0.000 0.015 3902.72 3886.31 3919.12 1171.69 2266.81 0 0 0 30.00 30.00 15.48

566.98 2437 -146.63 -1.24 80.00 3903.1 3886.1 3920.0 1171.8 2265.6 63.81 -10.21 93 576.31 0.00 0.20 3.74 0.000 0.161 0.088 3902.25 3885.44 3919.06 1202.50 3768.06 0 0 0 30.00 15.48 15.48

805.14 1156 -146.63 -1.20 0.00 3903.6 3885.8 3921.4 1202.6 3767.8 92.95 -12.10 140 813.77 0.00 0.00 3.47 0.000 0.000 0.015 3903.19 3885.75 3920.62 1202.75 2268.06 0 0 0 30.00 30.00 15.61

1000.25 420 -146.63 -1.19 80.00 3904.4 3886.2 3922.6 1202.6 2267.1 111.52 -9.49 160 1009.02 0.00 0.00 3.73 0.000 0.000 0.090 3905.03 3886.88 3923.19 1202.75 3766.25 0 0 0 30.00 30.00 15.60

1062.07 1156 -146.63 -1.16 0.00 3904.6 3886.7 3922.5 1203.2 3766.2 118.52 -11.61 172 1070.09 0.00 0.00 3.45 0.000 0.000 0.014 3904.19 3886.38 3922.00 1202.56 2267.62 0 0 0 30.00 30.00 15.66

1257.92 420 -146.63 -1.15 80.00 3904.5 3886.2 3922.8 1202.9 2266.3 137.07 -9.46 192 1266.88 0.00 0.00 3.73 0.000 0.000 0.091 3864.31 3806.12 3922.50 1201.62 3767.44 0 0 0 30.00 30.00 15.62

1289.96 3205 -146.63 -1.12 0.00 3904.5 3886.1 3922.9 1202.6 3768.4 140.61 -10.75 198 1298.47 0.00 0.19 3.44 0.000 0.156 0.015 3904.28 3885.81 3922.75 1230.88 2267.06 0 0 0 30.00 15.60 15.68

1405 end dive: TARGET_DEPTH_EXCEEDED

state 1406 begin apogee

1407.54 10243 0.00 -0.33 0.00 3904.5 3886.2 3922.8 1230.8 2152.8 150.47 -8.21 210 1526.83 105.32 1.29 0.09 0.880 0.113 0.166 3298.81 3241.75 3355.88 1421.94 2209.56 0 0 0 11.54 15.64 15.38

1528 end apogee: CONTROL_FINISHED_OK

state 1528 begin climb

1528.56 10759 146.63 1.35 -80.00 3295.9 3240.9 3350.9 1421.8 2209.2 153.25 0.00 221 1661.91 107.01 2.68 3.92 0.860 0.074 0.112 2697.34 2612.94 2781.75 1832.00 719.00 0 0 0 11.43 15.38 15.18

1665.75 1156 146.63 1.34 0.00 2694.7 2613.7 2775.7 1831.4 719.2 141.70 13.92 245 1674.74 0.00 0.00 3.62 0.000 0.000 0.033 2692.06 2611.94 2772.19 1831.62 2202.44 0 0 0 30.00 30.00 15.28

1860.76 16774 146.63 1.33 80.00 2691.5 2612.6 2770.4 1831.4 2202.5 112.25 15.05 265 1869.74 0.00 0.00 3.63 0.000 0.000 0.093 2688.91 2610.50 2767.31 1831.75 3651.62 0 0 0 30.00 30.00 15.45

1908.59 17542 146.63 1.30 0.00 2690.9 2612.3 2769.5 1831.8 3651.6 103.82 18.37 274 1917.37 0.00 0.00 3.48 0.000 0.000 0.019 2688.50 2610.31 2766.69 1831.69 2159.25 0 0 0 30.00 30.00 15.53

2098.70 16774 146.63 1.29 80.00 2689.6 2612.2 2766.9 1831.9 2158.9 76.33 13.76 294 2107.69 0.00 0.00 3.71 0.000 0.000 0.090 2688.34 2611.25 2765.44 1832.00 3652.81 0 0 0 30.00 30.00 15.56

2150.76 21639 146.63 1.26 0.00 2689.2 2612.4 2766.1 1832.1 3652.8 67.49 17.40 304 2159.38 0.00 0.26 3.48 0.000 0.179 0.018 2689.41 2612.44 2766.38 1799.38 2158.56 0 0 0 30.00 15.55 15.62

2341.55 16774 146.63 1.27 80.00 2688.8 2611.8 2765.7 1798.7 2158.6 45.56 10.88 327 2350.26 0.00 0.00 3.70 0.000 0.000 0.089 2688.69 2611.50 2765.88 1799.38 3652.94 0 0 0 30.00 30.00 15.64

2424.11 17542 146.63 1.25 0.00 2688.6 2612.0 2765.2 1799.4 3652.6 34.76 13.17 343 2432.66 0.00 0.00 3.45 0.000 0.000 0.018 2687.59 2610.31 2764.88 1799.25 2158.56 0 0 0 30.00 30.00 15.70

2616.50 8354 166.80 1.29 0.00 2688.0 2610.9 2765.1 1799.0 2158.8 15.91 9.07 381 2637.01 15.14 0.00 0.00 0.684 0.000 0.000 2618.16 2534.25 2702.06 1798.88 2158.56 0 0 0 11.71 30.00 30.00

2819.43 10919 321.51 1.50 -80.00 2613.2 2529.3 2697.2 1798.7 2158.7 6.28 2.83 422 2944.44 105.96 0.45 3.70 0.728 0.044 0.114 1983.06 1861.25 2104.88 1873.75 718.94 0 0 0 11.55 15.73 15.43

2953 end climb: NO_VERTICAL_VELOCITY

state 2953 begin surface

ID	244	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	5	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INT	0
DIVE	44	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	50	SM_CC	686.83997	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	2.3
D_SURF	2	FILEMGR	0	VBD_MIN	500	DEEPGLIDER	0
D_FLARE	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDERMB	0
D_TGT	150	COMM_SEQ	7	C_VBD	3300	MOTHERBOARD	6
D_ABORT	175	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
D_NO_BLEED	50	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE3	-1
T_BOOST	0	N_NOSURFACE	0	VBD_TIMEOUT	360	DEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_PITCH	0	NETBOX	2	UNCOM_BLEED	20	DEVICE6	-1
D_SAFE	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	1
D_CALL	0	CALL_WAIT	60	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	7
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
T_DIVE	50	N_GPS	100440	LOITER_W_DBAND	0	COMPASS_DEVICE	66
T_MISSION	75	T_RSLEEP	2	LOITER_DBDW	0	COMPASS2_DEVICE	-1
T_ABORT	1440	STROBE	0	LOITER_D_TOP	0	PHONE_DEVICE	33
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	96
T_NO_W	60	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	NAV_DEVICE	6
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	575	NAV2_DEVICE	6
T_EPIRB	0	PITCH_MIN	200	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	-10	PITCH_MAX	3610	MINV_24V	11	NAV4_DEVICE	-1
USE_ICE	0	C_PITCH	1500	MINV_10V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MAXI_24V	5	PRESSURE_DEVICE	34
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_10V	1.5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	15	FG_AHR_10V	2.7250609	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	15.64583	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.0049999999	PRESSURE_YINT	-192.53183	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.00022440785	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	114692	SEABIRD_C_G	-10
MASS	72540	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	230	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3835	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2300	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2185	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	4

GPS1	270623,105101,4735.980,-12256.732,31,0.9,49,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,105752,4735.993,-12256.739,3,0.8,4,15.4	MHEAD_RNG_PITCHd_Wd	2.1,1050,-17.6,-10.000,-21.21,2209,0.153
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.015448,0.007600,-0.013987,1.042997,-0.042429,0.022686,-0.088198,0.950735,632.884705,-335.695496,-256.128082
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NAV	1687865232,131.8,3,stop	_24V_AH	14.73,12.440
NET	CACST,8,0,20230627113238.271359,18,31314,44,0101,0150,07,00,00,00,00,1,029,244,0,5,1,0,150,16.0,5.06,-100,-2.06,-01,-0.15,65,10000,5000,0,-1,00,00*78	_10V_AH	14.81,0.000
NET_PING	1687865561,29,668.372986,16.000000,-0.890640	FG_AHR_24Vo	15.784
MODEM_MSG	CACST,8,1,20230627112000.477162,18,32767,45,0109,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.2,0.48,-100,2.52,-01,0.06,62,925,0025,0,-1,00,00*11	FG_AHR_10Vo	2.737
FREEZE	5.52,14.907,-1.498,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3222.41,243.65,0.706,0,500.7,444.3,557.1,686.66	MEM2	935080,36,111288,74
SM_GC	2.84,0.00,10.91,3.89,0.000,0.038,0.034,496.4,443.4,549.4,184.3,2317.6,0,0,0,30.00,15.27,15.29	DATA_FILE_SIZE	12945,445
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	180932,0
IRIDIUM_FIX	4736.40,-12251.79,270623,105213	SDSIZE	3887104,3858656
TCM_TEMP	18.17	SDFILEDIR	405,45
SC_FREEKB	3864672	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-1	SOUNDSPEED	1465.0
MODEM	0,1687863600,47.60500,-122.95000,0.617,904.4	CURRENT	0.038, 76.3,1
RAFOS_FIX	4736.185059,-12256.751953,270623,111100,4,255,0.27	MAGCAL	1.000000,0.065924,0.054269,-0.093255,1.070462,-0.343638,0.039439,0.046983,1.749256,598.3,-245.9,-687.2,29,0.0771,0
HUMID	56.51	IMPLIED_C_PITCH	1543,17.18,213,0.0,0.00
TEMP	10.64	IMPLIED_C_VBD	3453,22.796774,213,0
INTERNAL_PRESSURE	8.27829	GPS	270623,115331,4736.264,-12256.443,5,0.7,8,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	677	880	8783.06	nil	0	0	0.00
Pitch_motor	23	235	81.92	nil	0	0	0.00
Roll_motor	65	166	160.49	nil	0	0	0.00
Iridium	286	147	621.23	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.95	nil	0	0	0.00
Core	2187	5	165.87	SciCon	2958	7	337.72
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1198	0	5.68
Compass	926	5	68.59
RAFOS	1689	40	1001.06
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.40	16386	-146.63	-1.35	0.00	493.1	436.9	549.2	185.3	2329.4	0.00	0.00	0	61.72	50.08	0.00	0.00	0.005	0.000	0.000	1955.91	1946.69	1965.12	185.25	2329.06	0	0	0	15.45	30.00	30.00
62.24	18727	-146.63	-1.35	80.00	1959.2	1947.1	1971.4	185.3	2329.1	3.74	-6.60	8	139.07	50.35	7.58	3.57	0.005	0.236	0.090	3899.09	3884.56	3913.62	1172.12	3770.19	0	0	0	15.63	15.49	15.57
366.18	1156	-146.63	-1.27	0.00	3902.3	3886.1	3918.6	1172.1	3771.0	42.08	-14.24	66	378.27	0.00	0.00	3.47	0.000	0.000	0.015	3902.72	3886.31	3919.12	1171.69	2266.81	0	0	0	30.00	30.00	15.48
566.98	2437	-146.63	-1.24	80.00	3903.1	3886.1	3920.0	1171.8	2265.6	63.81	-10.21	93	576.31	0.00	0.20	3.74	0.000	0.161	0.088	3902.25	3885.44	3919.06	1202.50	3768.06	0	0	0	30.00	15.48	15.48
805.14	1156	-146.63	-1.20	0.00	3903.6	3885.8	3921.4	1202.6	3767.8	92.95	-12.10	140	813.77	0.00	0.00	3.47	0.000	0.000	0.015	3903.19	3885.75	3920.62	1202.75	2268.06	0	0	0	30.00	30.00	15.61
1000.25	420	-146.63	-1.19	80.00	3904.4	3886.2	3922.6	1202.6	2267.1	111.52	-9.49	160	1009.02	0.00	0.00	3.73	0.000	0.000	0.090	3905.03	3886.88	3923.19	1202.75	3766.25	0	0	0	30.00	30.00	15.60
1062.07	1156	-146.63	-1.16	0.00	3904.6	3886.7	3922.5	1203.2	3766.2	118.52	-11.61	172	1070.09	0.00	0.00	3.45	0.000	0.000	0.014	3904.19	3886.38	3922.00	1202.56	2267.62	0	0	0	30.00	30.00	15.66
1257.92	420	-146.63	-1.15	80.00	3904.5	3886.2	3922.8	1202.9	2266.3	137.07	-9.46	192	1266.88	0.00	0.00	3.73	0.000	0.000	0.091	3864.31	3806.12	3922.50	1201.62	3767.44	0	0	0	30.00	30.00	15.62
1289.96	3205	-146.63	-1.12	0.00	3904.5	3886.1	3922.9	1202.6	3768.4	140.61	-10.75	198	1298.47	0.00	0.19	3.44	0.000	0.156	0.015	3904.28	3885.81	3922.75	1230.88	2267.06	0	0	0	30.00	15.60	15.68
1405	end dive: TARGET_DEPTH_EXCEEDED
state	1406	begin apogee
1407.54	10243	0.00	-0.33	0.00	3904.5	3886.2	3922.8	1230.8	2152.8	150.47	-8.21	210	1526.83	105.32	1.29	0.09	0.880	0.113	0.166	3298.81	3241.75	3355.88	1421.94	2209.56	0	0	0	11.54	15.64	15.38
1528	end apogee: CONTROL_FINISHED_OK
state	1528	begin climb
1528.56	10759	146.63	1.35	-80.00	3295.9	3240.9	3350.9	1421.8	2209.2	153.25	0.00	221	1661.91	107.01	2.68	3.92	0.860	0.074	0.112	2697.34	2612.94	2781.75	1832.00	719.00	0	0	0	11.43	15.38	15.18
1665.75	1156	146.63	1.34	0.00	2694.7	2613.7	2775.7	1831.4	719.2	141.70	13.92	245	1674.74	0.00	0.00	3.62	0.000	0.000	0.033	2692.06	2611.94	2772.19	1831.62	2202.44	0	0	0	30.00	30.00	15.28
1860.76	16774	146.63	1.33	80.00	2691.5	2612.6	2770.4	1831.4	2202.5	112.25	15.05	265	1869.74	0.00	0.00	3.63	0.000	0.000	0.093	2688.91	2610.50	2767.31	1831.75	3651.62	0	0	0	30.00	30.00	15.45
1908.59	17542	146.63	1.30	0.00	2690.9	2612.3	2769.5	1831.8	3651.6	103.82	18.37	274	1917.37	0.00	0.00	3.48	0.000	0.000	0.019	2688.50	2610.31	2766.69	1831.69	2159.25	0	0	0	30.00	30.00	15.53
2098.70	16774	146.63	1.29	80.00	2689.6	2612.2	2766.9	1831.9	2158.9	76.33	13.76	294	2107.69	0.00	0.00	3.71	0.000	0.000	0.090	2688.34	2611.25	2765.44	1832.00	3652.81	0	0	0	30.00	30.00	15.56
2150.76	21639	146.63	1.26	0.00	2689.2	2612.4	2766.1	1832.1	3652.8	67.49	17.40	304	2159.38	0.00	0.26	3.48	0.000	0.179	0.018	2689.41	2612.44	2766.38	1799.38	2158.56	0	0	0	30.00	15.55	15.62
2341.55	16774	146.63	1.27	80.00	2688.8	2611.8	2765.7	1798.7	2158.6	45.56	10.88	327	2350.26	0.00	0.00	3.70	0.000	0.000	0.089	2688.69	2611.50	2765.88	1799.38	3652.94	0	0	0	30.00	30.00	15.64
2424.11	17542	146.63	1.25	0.00	2688.6	2612.0	2765.2	1799.4	3652.6	34.76	13.17	343	2432.66	0.00	0.00	3.45	0.000	0.000	0.018	2687.59	2610.31	2764.88	1799.25	2158.56	0	0	0	30.00	30.00	15.70
2616.50	8354	166.80	1.29	0.00	2688.0	2610.9	2765.1	1799.0	2158.8	15.91	9.07	381	2637.01	15.14	0.00	0.00	0.684	0.000	0.000	2618.16	2534.25	2702.06	1798.88	2158.56	0	0	0	11.71	30.00	30.00
2819.43	10919	321.51	1.50	-80.00	2613.2	2529.3	2697.2	1798.7	2158.7	6.28	2.83	422	2944.44	105.96	0.45	3.70	0.728	0.044	0.114	1983.06	1861.25	2104.88	1873.75	718.94	0	0	0	11.55	15.73	15.43
2953	end climb: NO_VERTICAL_VELOCITY
state	2953	begin surface